Apparatus and method for providing package release to unmanned aerial system

ABSTRACT

Systems, apparatuses, and methods are provided herein for providing package release for an unmanned aerial system. An apparatus for releasing packages for retrieval by an unmanned aerial system comprises a plurality of arms configured to surround a plurality of packages stacked vertically in an extended position, a plurality of powered hinges at a base of each of the plurality of arms, and a control circuit coupled to the plurality of powered hinges. The control circuit being configured to: determine a height for a first lowered position for the plurality of arms at which the plurality arms do not obstruct an unmanned aerial vehicle from coupling with a coupling structure on a first package of the plurality of packages positioned at a top of the plurality of packages, and cause the plurality of powered hinges to pivot the plurality of arms from the extended position to the first lowered position.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of U.S. Provisional Application No.62/247,409, filed Oct. 28, 2015, which is incorporated herein byreference in its entirety.

TECHNICAL FIELD

This invention relates generally to package handling and delivery.

BACKGROUND

Unnamed aerial systems (UAS) generally refer to aircrafts without ahuman pilot onboard. Initially developed for the military, UASs areincreasing being used for recreational and commercial applications.

BRIEF DESCRIPTION OF THE DRAWINGS

Disclosed herein are embodiments of apparatuses and methods forproviding package release to unmanned aerial system. This descriptionincludes drawings, wherein:

FIG. 1 is a block diagram of a system in accordance with severalembodiments.

FIG. 2 is a flow diagram of a method in accordance with severalembodiments.

FIGS. 3A, 3B, 3C, and 3D are illustrations of a package release systemin accordance with several embodiments.

FIGS. 4A and 4B are illustrations of a vehicle mounted package releasesystem in accordance with several embodiments.

Elements in the figures are illustrated for simplicity and clarity andhave not necessarily been drawn to scale. For example, the dimensionsand/or relative positioning of some of the elements in the figures maybe exaggerated relative to other elements to help to improveunderstanding of various embodiments of the present invention. Also,common but well-understood elements that are useful or necessary in acommercially feasible embodiment are often not depicted in order tofacilitate a less obstructed view of these various embodiments of thepresent invention. Certain actions and/or steps may be described ordepicted in a particular order of occurrence while those skilled in theart will understand that such specificity with respect to sequence isnot actually required. The terms and expressions used herein have theordinary technical meaning as is accorded to such terms and expressionsby persons skilled in the technical field as set forth above exceptwhere different specific meanings have otherwise been set forth herein.

DETAILED DESCRIPTION

Generally speaking, pursuant to various embodiments, systems,apparatuses and methods are provided herein for releasing packages forretrieval by an unmanned aerial system. An apparatus for releasingpackages for retrieval by an unmanned aerial system comprises aplurality of arms configured to surround a plurality of packages stackedvertically in an extended position, a plurality of powered hinges at abase of each of the plurality of arms, and a control circuit coupled tothe plurality of powered hinges. The control circuit being configuredto: determine a height for a first lowered position for the plurality ofarms at which the plurality arms do not obstruct an unmanned aerialvehicle from coupling with a coupling structure on a first package ofthe plurality of packages positioned at a top of the plurality ofpackages, and cause the plurality of powered hinges to pivot theplurality of arms from the extended position to the first loweredposition.

Aerial drones may be used for package delivery, but such systems includemany challenges. Implementing a fully automated package delivery systemthat can attach to and release packages without significant humanintervention includes many points of potential failures. For example, anaerial drone typically produces a downdraft which can blow awaypackages. A package release system generally provides a way for eachpackage to be securely picked up by a drone. Multiple packages may bestacked for delivery without crushing the packages or using an attachingmethod that may damage the package. Minimal human intervention is alsodesired for truck top package release systems as the drivers should befocusing on the truck and the drone.

The stacked package release system described herein generally enables anUnmanned Aircraft System (UAS) to pick up a package from a stack ofpackages while securing the remaining packages. The stacked packagerelease system may be utilized with delivery trucks or vans and can beaccessible from the exterior of the truck (e.g., from a roof of thetruck) so that a UAS can retrieve a package for delivery from the truckor van. The package release system may securely hold multiple packageswith arms until a UAS retrieves a package. When a top package isremoved, the arms of the system may move down (e.g., in a scissormotion) to allow the next box in the stack to be retrieved. In someembodiments, the arm assembly has the arms extended up until a packageis ready to be removed. Each package may be configured with a hanger orhook that the UAS can connect with and/or hook on to. Packages may bestacked in the package release system with the hanger of at least thetopmost package accessible. The width of the holder arms may be adjustedto the standard size of the packages. The arms may be controlled bymotorized hinges which may bring the arms down as a package is removedto allow for subsequent package retrieval. As each package is removed,the arms may automatically go down in proportion to the height of thestack of packages. A truck may use a moonroof to elevate the packagesand the release system from inside the truck to the roof. A UAS may flyabove the truck to pick up a package by coupling its hook with a hangeron the box. The UAS may deliver the package and then return to the truckfor another package.

The system described herein may generally enable a UAS and/or air droneto pick up a package stacked on the top of a truck or a building whilesecuring the remaining packages. The package release system may securelyhold the packages with arms until a drone swoops down and catches thebox hanger loop with its hook and carries the package away. When the topbox is removed, the arms may move down in a scissor motion to expose thehanger on the next box in the stack.

Generally, the package release system may automatically extend and lowerits arms depending on the stack size of the packages. The stack size maybe determined by the summation of the heights of all boxes still in thestack. In some embodiments, each boxes' individual heights and the orderin which they are stacked may be used to determine the stack height aspackages are added and/or removed.

Referring now to FIG. 1, a system for releasing packages for UASretrieval is shown. The package release system 100 includes a controlcircuit 110 coupled to powered hinges 120 which drives the arms 130. Insome embodiments, the package release system 100 further includes asensor 140 coupled to the control circuit 110.

The package release system 100 may comprise a system mounted on top of avehicle, a system placed in an open lot, a system position on top of abuilding, etc. In some embodiments, the package release system 100 maybe placed on a movable platform for retracting the system into abuilding and/or vehicle. In some embodiments, the package release system100 may be a standalone unit and/or may communicate with a centralcomputer and/or a server to retrieve information such as package heightand UAS activity. Generally, the package release system 100 may beconfigured to secure a stack of packages while making the top packageavailable for UAS retrieval.

The control circuit 110 may comprise a central processing unit, aprocessor, a microprocessor and the like. The control circuit 111 may beconfigured to execute computer readable instructions stored on acomputer readable storage memory (not shown). The computer readablestorage memory may comprise volatile and/or non-volatile memory and havestored upon it a set of computer readable instructions which, whenexecuted by the control circuit 110, cause the system to raise and lowerarms 130 based at least on the height of the stacked packages. In someembodiments, the memory may further store information related to packagedimensions and/or UAS schedules. In some embodiments, the controlcircuit 110 may control the arms 130 via the powered hinges 120 inaccordance with one or more steps described with reference to FIGS. 2and 3A-D herein.

The arms 130 comprises two or more elongated members that are configuredto secure a stack of packages surrounded by the arms 130. In someembodiments, the arms 130 may comprise bars that are generally verticalwhen in fully extended position. In some embodiments, the arms maycomprise rigid or semi-rigid material such as metal, wood, plastic,rubber, etc. In some embodiments, each arm may comprise a rigid orsemi-rigid cylindrical and/or flat bar. In some embodiments, each armmay comprise one or more joints that fold when the arms 130 are pivotedby the powered hinges 120. In some embodiments, the system may includefour arms for securing square and/or rectangular packages. The packagesmay be placed with each corner pointing towards one arm or with eachvertical side facing one arm.

The powered hinges 120 may generally be hinges that are configured tomove the arms 130 relative to a base as controlled by the controlcircuit 110. Each hinge may be coupled to an arm on one end and one of abase frame, a base platform, a vehicle, a pavement, and a buildingstructure on the other end. The powered hinges 120 may generally toconfigure to allow the arms 130 to pivot in at least one axis. In someembodiments, the powered hinges may comprise one or more of a knucklejoint, a turnbuckle, a pin joint, a cotter joint, a bolted joint, ascrew joint, and the like. In some embodiments, the powered hinges 120may be configured to hold each arm vertically to the ground in a fullyextended position and pivot each arm in at least one direction to lowerthe arms. In some embodiments, the powered hinges 120 are driventogether to cause each arm to pivot approximately the same amount. Insome embodiments, each of the powered hinges 120 may be individuallycontrolled by the control circuit 110. Description of an example of arms130 and powered hinges 120 configuration is provided in more detail withreference to FIGS. 3A-D herein.

In some embodiments, the package release system may further include anadjustable base frame coupled to the powered hinges 120. The adjustablebase frame may include two or more extendable bars that may extend andretract to adjust the distances between each of the arms 130 toaccommodate packages of different sizes and dimensions. For example, theadjustable base frame may comprise a rectangular frame with at least twoextendable sides and each powered hinge and arm may be coupled to acorner of the rectangle. In another example, the adjustable base framemay comprise two extendable bars that cross each other and can rotaterelative to each other.

In some embodiments, the package release system 100 may include a sensor140 communicatively coupled to the control circuit 110. In someembodiments, the sensor 140 may comprise a scanner for scanning anidentifier on the packages. For example, the scanner may comprise acamera, an optical sensor, a barcode scanner, a radio frequencyidentification (RFID) tag scanner, etc. In some embodiments, the sensor140 may determine package dimension and height information from thescan. For example, the sensor 140 may comprise an optical scanner forreading a label on the package that provides the package's dimension. Insome embodiments, the sensor 140 may read an identifier (e.g. barcode,shipping label, etc.) from the package, and use the identifier toretrieve package dimension information from a local storage and/or froma central computer system such as a shipment management system. In someembodiments, the sensor 140 may directly sense the height of one or morepackages. For example, the sensor 140 may comprise one or more of anoptical sensor, a range sensor, and a laser distance sensor. The sensor140 may measure the height of the stack of packages as the packages areadded to the stack and/or as the packages are removed from the stack todetermine the current height of the stack and/or each package. In someembodiments, the sensor may comprise one or more of a weight sensor, awireless receiver, an optical sensor, and a range sensor for detectingthat a first package has been removed. For example, a weight sensor maybe included in the base of the package release system 100 to detect anyweight change in the stack of packages secured by the arms 130. In someembodiments, the sensor 140 may be attached to one or more of the arms130, the control circuit 110, and a base of the package release system100. In some embodiments, the sensor 140 may comprise a handheld scannerthat may be used to scan the packages when the packages are added to thestack. In some embodiments, the package release system 100 may includean additional structure for supporting the sensor 140. For example, asensor 140 may be supported by pole a distance away from the arms 130.Generally, the sensor 140 may provide information to the control circuit110 to determine when and how much the arms 130 should be extendedand/or lowered to secure the packages and/or allow the packages to beretrieved by UASs.

In some embodiments, the package release system 100 system may furtherinclude a communication device for communicating with a central server.The communication device may be a wired or wireless communicationinterface such as a data port, a wi-fi transceiver, a local area networktransceiver, and the like. In some embodiments, the server may be ashipment tracking server that keeps track of the packages, includingwhich packages should be in each of a plurality of package releasesystems. The server may provide package height information to thepackage release system 100 based on tracking the packages designated tobe placed in the package release system 100. In some embodiments, thecentral server may further keep track of the locations of the UASs. Forexample, the server may know that a UAS is approaching the packagerelease system 100 and instruct the package release system 100 to lowerthe arms 130 accordingly. In another example, after a UAS successfullyretrieves a package, the server may send a message to the packagerelease system 100 a UAS

Referring now to FIG. 2, a method for releasing packages for retrievalby an unmanned aerial system is shown. Generally, the method shown inFIG. 2 may be implemented with a processor based device such as acontrol circuit, central processor, and the like. In some embodiments,the method shown in FIG. 2 may be implemented with the control circuit110 and/or a processor based server device communicating with thecontrol circuit 110. Generally, the steps shown in FIG. 2 may beperformed by one or more of a central server and a control circuit of apackage release system

In step 210, the system detects a height of a package(s) stackedvertically within the arms of the package release system. Prior to step210, a plurality of packages may be stacked vertically between the armsof the package release system either by a human or a stacking machine.In some embodiments, the height of one or more packages may be providedby a central server that manages the delivery of packages. In someembodiments, an identifier (e.g. barcode, RFID) of each package may bescanned when the packages are placed into the package release system.The system may retrieve and store the dimension information using theidentifier. In some embodiments, the packages may contain markingsidentifying its dimensions (e.g. shipping label, box marking), and thesystem may read the dimensions off of the packages with an opticalscanner. In some embodiments, the system may comprise a height sensorsuch as an optical sensor, a range sensor, and laser distance sensor fordirectly measuring the height of one or more of the package and orstacked height of the packages.

In step 230, the system determines a first lowered position for theplurality of arms surrounding the packages. The first lowered positionmay correspond to an arm position at which the arms do not obstruct anunmanned aerial vehicle from coupling with a coupling structure on atopmost package of the stack of packages. In some embodiments, thesystem may determine the height of the topmost package and/or the heightof the stack of packages without the topmost package. In someembodiments, the first lowered position may correspond to an armposition at which the top of the arms is equal or lower than one or moreof: the top of the coupling structure attached to the topmost package,the top plane of the top package, a set distance (e.g. 5 inches) belowthe top of the package or the coupling structure, a percentage distance(e.g. 50%) below the height of the package, a bottom plane of the toppackage, a set or percentage distance above or below the top of the nextpackage in the stack, etc. In some embodiments, the first loweredposition may correspond to a position at which each arm intersects theplane of the top surface of the topmost package at a location that is apredetermined distance away from the top package. For example, the firstlowered position may cause the arms to open enough to provide enoughclearance (e.g. a set width wider than the width of the lower portion ofthe UAS) for the UAS to approach and engage the package. Generally, thesystem may be configured to select a height for a first lowered positionthat does not obstruct a UAS from engaging with a coupling structurewhile securing the boxes below the topmost box during the retrieval.Generally, the first lowered height may be dynamically determined basedon the dimensions of the packages placed between the arms of the packagerelease system.

In step 240, the system causes the powered hinges to pivot the arms tothe first lowered position determined in step 230. In some embodiments,the control circuit sends an amount of power to the powered hinges torotate the hinges to lower the arms to the first lowered position. Insome embodiments, each powered hinges may be driven by the same signalfrom the control circuit or may be individually driven by the controlcircuit.

In some embodiments, prior to step 240, the package release system maystart off at a fully extended position at which the arms aresubstantially vertical to the ground. In some embodiments, a package maybe retrievable when the arms are fully extended and steps 220-240 mayoccur after that package is removed. In some embodiments, step 240 maybe triggered when a package is removed to make the next package in thestack available for retrieval. The system may detect that a package hasbeen removed via one or more of a weight sensor, a wireless receiver, anoptical sensor, and a range sensor. In some embodiments, a centralsystem may notify the package release system that a package has beensuccessfully retrieved based on the information received from theretrieving UAS. In some embodiments, step 240 may be triggered when aUAS approaches to retrieve a package. For example, a delivery managementsystem may notify the package release system that a UAS is approachingand the arms may be lowered just prior to the arrival of the UAS. Inanother example, the package release system may sense the approach of aUAS via an optical sensor and/or a short range communication signal(e.g. Bluetooth, Wi-Fi, Infrared, etc.) and lower the arms in response.In some embodiments, the package release system may distinguish UASsapproaching it or another package release system nearby via the contentof the short range communication signal. In some embodiments, thepackage release system may lower the arms based on a previously storedretrieval schedule of the UASs (e.g. first retrieval at 2:30 pm, secondretrieval at 2:55 pm, etc.).

In some embodiments, after step 240, the system may maintain the arms atthe first lowered position until a package is removed and/or a UASapproaches to pick up the next package. In some embodiments, after thetopmost package is removed, the process may return to step 220 for theremaining packages. For example, a second lowered position may bedetermined similarly to make the next package in the stack available forretrieval after the topmost package is removed. The system may lower thearms to the second lowered position as soon as the topmost package isremoved and/or when a UAS is approaching to retrieve the second package.In some embodiments, after the first package is removed, the systems mayreturn the arms to a fully extended position until a UAS approaches toretrieve the second package.

In some embodiments, packages may be added to the stack of packages inbetween retrievals, and the system may calculate a second loweredposition based on the new height of the added package.

Next referring to FIGS. 3A-D, illustrations of a package release systemare shown. FIG. 3A shows an empty package release system in a fullyextended position. The system includes arms 311, 312, 313, and 314, eachcontrolled by powered hinges 321, 322, 323, and 324 respectively. Thepowered hinges 321-324 are coupled to a base frame 330. In someembodiments, two or more sides of the base frame 330 may be extendableto adjust the distance between the arms 311-314 to accommodate packagesof different dimensions.

In FIG. 3B, a stack of packages 331, 332, and 333 are stacked within thearms 311-314 of the package release system. The packages 331-333 eachinclude a coupling structure 341, 342, and 343 respectively. Thecoupling structures 341-343 may comprise a hook, a hanger, a loop, etc.that are configured to couple to a UAS while the UAS is in flight. InFIG. 3 B, the packages 331-333 are stacked such that the couplingstructures 341-343 face different directions alternatively. The packagesmay generally be stacked such that the coupling structure of eachpackage in the stack is extended. In some embodiments, the top package331 may be retrievable by a UAS while the arms 311-314 are fullyextended as shown in FIG. 3B. In some embodiments, the control circuitmay lower the arms to the position shown in FIG. 3C to make the toppackage 331 retrievable.

In FIG. 3C, the top package 331 has been removed from the stack and thearms 311-314 are lowered to a first lowered position. In the firstlowered position, the first pair of arms 311 and 312 are pivoted towardeach other in the same plane and cross each other as the tops of thearms are lowered. The other pair of arms 313 and 314 are similarlylowered as they cross each other. Generally, the arms are lowered toexpose the coupling structure 342 of the second package 332 forretrieval by a UAS.

In FIG. 3D, the second package 332 is removed from the stack and thearms 311-314 are lowered to a second lowered position. In the secondlowered position, the arms 311-314 are pivoted further away from thevertical position to lower the tops of each arm. The arms 311-314 arelowered to expose the coupling structure 343 of the third package 333for retrieval by a UAS.

The configuration of the package release system in FIGS. 3A-D areprovided as an example only. A package release system may include two ormore arms, and the arms can pivot in different directions withoutdeparting from the spirit of the present disclosure. For example, thearms may each pivot in a different plane towards a different one of thearms. In some embodiments, the arms may include one or more joints thatfold when the arms are pivoted. For example, each arm may include a topportion that folds inward as the lower half of the arm is pivotedoutward. In some embodiments, the powered hinges 321-324 may be securedto a solid platform instead of and/or in additional to the base frame330. While the packages 331-333 are shown to be positioned with eachvertical edge aligned with an arm 311-314, in some embodiments, thepackages 331-334 may be positioned such that the arms are adjacent to avertical side of the package. While FIGS. 3A-D shows a stack of threepackages and two lowered positions, a package release system maysurround a stack of any height and any number of packages withoutdeparting from the spirit of the present disclosure. The number oflowered positions may be based on the number of packages placed in thepackage release system. Generally, each lowered positions may bedetermined dynamically based on the dimensions of the packages betweenthe arms. While each of the packages 331-333 are shown as packages ofsubstantially similar size and shape, in some embodiments, the packagesmay be of any shape and may vary in shape and/or dimension. For example,a package release system may be configured to hold packages that arerectangular, cylindrical, irregularly shaped, etc. by adjusting theplacement and/or the configuration of the arms.

Next referring to FIGS. 4A-B, illustrations of a vehicle mounted apackage release system are shown. In FIG. 4A, a package release system420 holding packages 430 for retrieval by a UAS 440 is mounted on avehicle 410. FIG. 4A show the package release system 420 in a fullyextended position. In some embodiments, the package release system 420and/or the stacked packages 430 may be retractable into the vehicle 410through a movable platform. The vehicle may be a delivery vehicle suchas a semi-trailer, a truck, a van, and the like. While FIG. 4A shows thepackage release system 420 being positioned on top of the vehicle 410,in some embodiments, the package release system 420 may be mounted on aside or the back of the vehicle 410. The vehicle may comprise one ormore of a delivery truck, trailer, van, etc.

In FIG. 4B, the package release system 420 is lowered to expose the lastpackage in the stack for retrieval by the UAS 440. The UAS 440 maycomprise a coupling structure such as a hook for coupling with thecoupling structure on the package 430. The UAS 440 may couple with thepackage 430 while in flight, lift the package 430, and began to traveltowards a delivery destination while carrying the package 430.

When hovering over the packages, a UAS can produce significant downdraftthat can cause the packages to shift and/or tip over. When the topmostpackage is lifted away by the UAS, the friction between the firstpackage and the second package may also cause the stack of packages totip over. With the systems and methods described herein, a stack ofpackages may be secured in place while the UAS couples to the topmostpackage of the stack and removes the package for delivery. The systemmay be configured to automatically adjust the height of the arms aspackages are added and/or removed from the stack.

In one embodiment, an apparatus for releasing packages for retrieval byan unmanned aerial system comprises a plurality of arms configured tosurround a plurality of packages stacked vertically in an extendedposition, a plurality of powered hinges at a base of each of theplurality of arms, and a control circuit coupled to the plurality ofpowered hinges. The control circuit being configured to: determine aheight for a first lowered position for the plurality of arms at whichthe plurality arms do not obstruct an unmanned aerial vehicle fromcoupling with a coupling structure on a first package of the pluralityof packages positioned at a top of the plurality of packages, and causethe plurality of powered hinges to pivot the plurality of arms from theextended position to the first lowered position.

In one embodiment, a method for releasing packages for retrieval by anunmanned aerial system comprises: determining a height of a plurality ofpackages stacked vertically, determining a first lowered position for aplurality of arms surrounding the plurality of packages based on theheight of the plurality of packages, wherein in the first loweredposition, the plurality arms do not obstruct an unmanned aerial vehiclefrom coupling with a coupling structure on a first package of theplurality of packages positioned at a top of the plurality of packages,and causing a plurality of powered hinges to pivot the plurality of armsto the first lowered position.

In one embodiment, a system for package delivery comprising: a pluralityof packages stacked vertically, each package having an couplingstructure extending upwards from the package, an unmanned aerial systemhaving a lift structure configured to become coupled with the couplingstructure while in flight, and a release system comprising: a pluralityof arms surrounding the a plurality of packages, and a control circuitcoupled to the plurality of arms and configured to pivot the pluralityof arms such that the plurality arms do not obstruct the unmanned aerialsystem from coupling with the coupling structure on a first package ofthe plurality of packages while securing at least a second package ofthe plurality of packages positioned under the first package.

Those skilled in the art will recognize that a wide variety of othermodifications, alterations, and combinations can also be made withrespect to the above described embodiments without departing from thescope of the invention, and that such modifications, alterations, andcombinations are to be viewed as being within the ambit of the inventiveconcept.

What is claimed is:
 1. An apparatus for releasing packages for retrievalby an unmanned aerial system comprising: a plurality of arms configuredto surround a plurality of packages stacked vertically in an extendedposition; a plurality of powered hinges at a base of each of theplurality of arms; and a control circuit coupled to the plurality ofpowered hinges and configured to: determine a height for a first loweredposition for the plurality of arms at which the plurality of arms do notobstruct an unmanned aerial vehicle from coupling with a couplingstructure on a first package of the plurality of packages positioned ata top of the plurality of packages; and cause the plurality of poweredhinges to pivot the plurality of arms from the extended position to thefirst lowered position.
 2. The apparatus of claim 1, wherein theplurality of arms comprises two pairs of arms and the plurality ofpowered hinges that causes arms in each pair of arms to pivot in thesame plane toward each other and cross each other as tops of the armsare lowered with the pivot.
 3. The apparatus of claim 1, wherein in thefirst lowered position, a top tip of each of the plurality of arms arelower than a plane of a top surface of the first package.
 4. Theapparatus of claim 1, wherein at the first lowered position, each armintersects a plane of a top surface of the first package at a location apredetermined distance away from the first package.
 5. The apparatus ofclaim 1, further comprising: one or more of an optical sensor, a rangesensor, and a laser distance sensor for determining the height of theplurality of packages.
 6. The apparatus of claim 1, wherein in theextended position, the plurality of arms are generally vertical from aground.
 7. The apparatus of claim 1, wherein the plurality of arms arecoupled to a delivery vehicle.
 8. The apparatus of claim 1, wherein thecontrol circuit is further configured to: cause the plurality of poweredhinges to pivot the plurality of arms from the first lowered position toa second lowered position at which height the plurality of arms do notobstruct the unmanned aerial vehicle from coupling with a couplingstructure on a second package of the plurality of packages positioned ata top of the plurality of packages after the first package is removed.9. The apparatus of claim 8, wherein the control circuit is furtherconfigured to: determine that the first package has been removed fromthe plurality of packages prior to causing the plurality of poweredhinges to pivot the plurality of arms to the second lowered position.10. The apparatus of claim 9, further comprising: one or more of aweight sensor, a wireless receiver, an optical sensor, and a rangesensor for detecting that the first package has been removed.
 11. Theapparatus of claim 1, further comprising: a memory device storing heightinformation for the plurality of packages surrounded by the plurality ofarms, wherein the first lowered position is determined based on theheight information of the plurality of packages.
 12. The apparatus ofclaim 11, further comprising: an optical scanner for scanning anidentifier on each of the plurality of packages, wherein the controlcircuit is configured to obtain package dimension information based onthe identifier on each of the plurality of packages.
 13. The apparatusof claim 1, further comprising a base frame, wherein the plurality ofhinges couple the plurality of arms to the base frame.
 14. The apparatusof claim 13, wherein the base frame comprises extendable bars foradjusting positions of the plurality of arms.
 15. A method for releasingpackages for retrieval by an unmanned aerial system comprising:determining a height of a plurality of packages stacked vertically;determining a first lowered position for a plurality of arms surroundingthe plurality of packages based on the height of the plurality ofpackages, wherein in the first lowered position, the plurality of armsdo not obstruct an unmanned aerial vehicle from coupling with a couplingstructure on a first package of the plurality of packages positioned ata top of the plurality of packages; and causing a plurality of poweredhinges to pivot the plurality of arms to the first lowered position. 16.The method of claim 15, wherein the determining of the height of theplurality of packages comprises retrieving height information for eachof the plurality of packages and determining a total height of theplurality of packages stacked vertically.
 17. The method of claim 15,wherein at the first lowered position, a top tip of each of theplurality of arms are lower than the height of the plurality ofpackages.
 18. The method of claim 15, further comprising: causing theplurality of powered hinges to pivot the plurality of arms to a secondlowered position at which the plurality of arms do not obstruct theunmanned aerial vehicle from coupling with a coupling structure on asecond package of the plurality of packages positioned at a top of theplurality of packages after the first package is removed.
 19. The methodof claim 18, further comprising: determining that the first package hasbeen removed from the plurality of packages prior to causing the causethe plurality of powered hinges to pivot the plurality of arms to thesecond lowered position.
 20. A system for package delivery comprising: aplurality of packages stacked vertically, each package having a couplingstructure extending upwards from the package; an unmanned aerial systemhaving a lift structure configured to become coupled with the couplingstructure while in flight; and a release system comprising: a pluralityof arms surrounding the plurality of packages; and a control circuitcoupled to the plurality of arms and configured to pivot the pluralityof arms such that the plurality of arms do not obstruct the unmannedaerial system from coupling with the coupling structure on a firstpackage of the plurality of packages while securing at least a secondpackage of the plurality of packages positioned under the first package.